CN110848189B - Hydraulic synchronous control method for multiple two-stage cylinders - Google Patents
Hydraulic synchronous control method for multiple two-stage cylinders Download PDFInfo
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- CN110848189B CN110848189B CN201911127102.9A CN201911127102A CN110848189B CN 110848189 B CN110848189 B CN 110848189B CN 201911127102 A CN201911127102 A CN 201911127102A CN 110848189 B CN110848189 B CN 110848189B
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B11/00—Servomotor systems without provision for follow-up action; Circuits therefor
- F15B11/16—Servomotor systems without provision for follow-up action; Circuits therefor with two or more servomotors
- F15B11/17—Servomotor systems without provision for follow-up action; Circuits therefor with two or more servomotors using two or more pumps
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
- B66F7/00—Lifting frames, e.g. for lifting vehicles; Platform lifts
- B66F7/28—Constructional details, e.g. end stops, pivoting supporting members, sliding runners adjustable to load dimensions
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B11/00—Servomotor systems without provision for follow-up action; Circuits therefor
- F15B11/16—Servomotor systems without provision for follow-up action; Circuits therefor with two or more servomotors
- F15B11/22—Synchronisation of the movement of two or more servomotors
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B13/00—Details of servomotor systems ; Valves for servomotor systems
- F15B13/02—Fluid distribution or supply devices characterised by their adaptation to the control of servomotors
- F15B13/06—Fluid distribution or supply devices characterised by their adaptation to the control of servomotors for use with two or more servomotors
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B21/00—Common features of fluid actuator systems; Fluid-pressure actuator systems or details thereof, not covered by any other group of this subclass
- F15B21/02—Servomotor systems with programme control derived from a store or timing device; Control devices therefor
Abstract
The invention relates to a hydraulic synchronous control method for a plurality of two-stage cylinders, and belongs to the technical field of hydraulic transmission and control. The multi-cylinder synchronous hydraulic method for the vertical installation hydraulic cylinder suitable for the mobile heavy-load AGV provided by the invention can meet the requirement of a large load, simplify the mechanical structure, meet the requirement of a large stroke and solve the problem of meeting the control precision of a multi-cylinder synchronous lifting hydraulic system.
Description
Technical Field
The invention belongs to the technical field of hydraulic transmission and control, and particularly relates to a multi-two-stage cylinder hydraulic synchronous control method.
Background
At present, most of mobile carrying equipment AGVs are required to have a platform lifting function, and in most of domestic lifting platforms of the mobile carrying equipment AGVs, due to the power limitation of an electrically driven lifter, the weight of a lifting load is limited, so that the requirement of heavy-load mobile lifting equipment (heavy-load mobile lifting AGV) which is developed day by day cannot be met; however, at present, some AGVs of the mobile devices use a hydraulic lifting platform, but the hydraulic lifting platform requires high synchronization performance, so that some hydraulic lifting platforms use a mechanical synchronous lifting platform, for example, a scissor lifting platform, which not only increases the system pressure of the hydraulic system, but also improves the installation space of the AGVs and the requirements of the structural design, and cannot meet the requirements of height-limiting AGVs. Because the length of the vertically-installed hydraulic cylinder is limited by the height of the AGV, a multi-cylinder synchronous lifting system for the vertically-installed hydraulic cylinder is urgently needed, the use working condition of a large lifting load is met, and the mechanical structure can be effectively simplified; in addition, the requirement of large stroke can be met.
Disclosure of Invention
Technical problem to be solved
The technical problem to be solved by the invention is as follows: how to design a multi-cylinder synchronous hydraulic method of a vertical installation hydraulic cylinder suitable for moving a heavy-load AGV.
(II) technical scheme
In order to solve the technical problem, the invention provides a multi-two-stage cylinder hydraulic synchronous control method, which is realized based on a multi-two-stage cylinder hydraulic synchronous control system, wherein the system comprises a control unit module 1, a hydraulic unit module 2 and an execution unit module 3; the control unit module 1 is used for controlling the opening and closing of a hydraulic valve in the hydraulic unit module 2 and collecting sensor data in the execution unit module 3; the hydraulic unit module 2 is connected with the execution unit module 3 and is used for realizing the movement of the execution unit module 3 through a control instruction of the control unit module 1; the execution unit module 3 is used for realizing synchronous lifting motion under the control of the control unit module 1;
the control unit module 1 comprises a remote controller 11, a programmable controller 12, a communication expansion module 13, an analog output module 14 and a proportional amplifier 15; the remote controller 11 is connected to the programmable controller 12, and is configured to send a motion instruction to the programmable controller 12, including the ascending and descending motions of the execution unit module 3; the programmable controller 12 is connected with the communication extension module 13 and the analog output module 14, and the programmable controller 12 is configured to calculate a lifting speed of an AGV lifting platform of a mobile device by analyzing an action instruction of the remote controller 11, and then convert a voltage value required for opening a hydraulic valve in the hydraulic unit module 2 according to a parameter characteristic of the hydraulic valve in the hydraulic unit module 2 to obtain a voltage control signal and send the voltage control signal to the analog output module 14; the programmable controller 12 is further configured to select a reference hydraulic cylinder from the plurality of sets of hydraulic cylinders 31 of the execution unit module 3, calculate position errors between the other hydraulic cylinders and the reference hydraulic cylinder, calculate a flow compensation amount of the non-reference hydraulic cylinder, and send a voltage compensation amount control signal issued by calculating the flow compensation amount to the analog output module 14; the communication expansion module 13 is used for reading the displacement data of the sensor in the execution unit module 3; the analog quantity output module 14 is configured to output a continuous voltage control signal and a continuous voltage compensation quantity control signal, and transmit the signals to the proportional amplifier 15, where the number of point position outputs of the analog quantity output module 14 is consistent with the number of the proportional amplifiers 15; the proportional amplifier 15 is configured to convert the voltage control signal and the voltage compensation quantity control signal obtained from the analog quantity output module 14 into a current control signal and a current compensation quantity control signal of a hydraulic valve in the hydraulic unit module 2, respectively, through scaling so as to control the hydraulic valve in the hydraulic unit module 2; the hydraulic valve in the hydraulic unit module 2 is controlled by the current compensation amount control signal and the current control signal converted by the action command sent by the remote controller 11;
the execution unit module 3 comprises four sets of hydraulic cylinders 31 and four sets of displacement sensors 32; the displacement sensors 32 are independently mounted on each hydraulic cylinder 31 one by one; the four groups of same hydraulic cylinders 31 in the execution unit module 3 are used for realizing the lifting function of the lifting platform; the hydraulic cylinder 31 is a two-stage hydraulic cylinder, and three oil inlet and outlet ports are arranged on the hydraulic cylinder 31, wherein the three oil inlet and outlet ports comprise an oil inlet and outlet port arranged in a rodless cavity of the primary cylinder, an oil inlet and outlet port arranged in a rod cavity of the primary cylinder, and an oil inlet and outlet port arranged in a rod cavity of the secondary cylinder;
the hydraulic unit module 2 comprises an oil tank 21, a motor pump group 22, a hand pump 23, a liquid level meter 24, an air filter 25, an oil return filter 26, a one-way valve 27, an oil outlet filter 28, a pressure gauge 29, a multi-way valve 210, a balance valve 211 and a sequence valve 212; the oil tank 21 is respectively connected with the motor-pump set 22, the hand pump 23, the liquid level meter 24, the air filter 25 and the return oil filter 26; the inlet of the one-way valve 27 is connected with the motor-pump set 22 through an oil pipe; the pressure gauge 29 is respectively connected with the hand pump 23 and the outlet of the one-way valve 27 and is used for displaying the system pressure; the outlet of the one-way valve 27 is also connected with one end of the oil outlet filter 28; the other end of the oil outlet filter 28 is connected with the multi-way valve 210; the oil outlet of the multi-way valve 210 is respectively connected with the balance valve 211 and the sequence valve 212; the balance valve 211 is connected to a non-cylinder oil port of the primary cylinder of the hydraulic cylinder 31; the sequence valve 212 is connected with an oil port of a rod cavity of the primary cylinder of the hydraulic cylinder 31;
the control method comprises the following steps:
sending an action instruction to the programmable controller 12 by operating the remote controller 11;
the programmable controller 12 calculates the lifting speed of the lifting platform by analyzing the action instruction of the remote controller 11; then, according to the parameter characteristics of the multi-way valve 210, a voltage value required by opening the multi-way valve 210 is converted to obtain a voltage control signal, and the voltage control signal is sent to the analog quantity output module 14;
the proportional amplifier 15 calculates a voltage control signal obtained from the analog output module 14 by conversion into a current control signal for controlling the opening and closing of the multi-way valve 210; the control unit module 1 simultaneously issues the current control signal to each proportional valve in the multi-way valve 210; while the power flow control signal is sent to the multi-way valve 210, the position data of each hydraulic cylinder 31 is continuously read through the communication expansion module 13;
the programmable controller 12 further selects one reference hydraulic cylinder from the four sets of hydraulic cylinders 31, calculates position errors between the other three hydraulic cylinders and the reference hydraulic cylinder, calculates a flow compensation amount of a non-reference hydraulic cylinder, calculates a voltage compensation amount control signal issued by the flow compensation amount and sends the voltage compensation amount control signal to the analog output module 14, and then the proportional amplifier 15 converts the voltage compensation amount control signal acquired from the analog output module 14 into a current compensation amount control signal, thereby controlling the opening size of each proportional valve in the multi-way valve 210;
the current compensation amount control signal and the current control signal converted from the action command issued by the remote controller 11 control the multi-way valve 210 together; therefore, the execution unit module 3 realizes synchronous lifting according to the control signal sent by the control unit module 1.
Preferably, the number of the proportional amplifiers 15 is equal to the number of the hydraulic cylinders in the execution unit module 3.
Preferably, a deceleration zone is set at the switching position of the primary cylinder and the secondary cylinder of the hydraulic cylinder 31, and when the position sensor 32 measures that the movement height of the hydraulic cylinder 31 is in the deceleration zone, the remote controller 11 decreases the speed value in the issued action command until the hydraulic cylinder 31 runs out of the deceleration zone.
Preferably, the remote control 11 is connected to the programmable controller 12 in a wireless manner.
Preferably, the remote control 11 is connected to the programmable controller 12 by wire.
Preferably, the hydraulic unit module 2 and the execution unit module 3 are connected by a hydraulic line.
Preferably, the programmable controller 12 is specifically configured to calculate the flow compensation amount of the non-reference hydraulic cylinder according to a PID control algorithm.
Preferably, the programmable controller 12 is connected to the communication expansion module 13 through its own port.
Preferably, the programmable controller 12 is connected with the analog quantity output module 14 through its own port.
Preferably, after the programmable controller 12 calculates the position errors of the other three hydraulic cylinders from the reference hydraulic cylinder, the flow compensation amount of the non-reference hydraulic cylinder is calculated according to a PID control algorithm.
(III) advantageous effects
The multi-cylinder synchronous hydraulic method for the vertical installation hydraulic cylinder suitable for the mobile heavy-load AGV provided by the invention can meet the requirement of a large load, simplify the mechanical structure, meet the requirement of a large stroke and solve the problem of meeting the control precision of a multi-cylinder synchronous lifting hydraulic system.
Drawings
FIG. 1 is a block diagram of a system designed in the hydraulic synchronous control method for multiple two-stage cylinders provided by the invention;
FIG. 2 is a schematic diagram of a hydraulic unit module and an execution unit module of the system designed in the method provided by the present invention;
FIG. 3 is a flow chart for implementing the multi-cylinder and two-cylinder hydraulic synchronous control algorithm provided by the invention.
Detailed Description
In order to make the objects, contents, and advantages of the present invention clearer, the following detailed description of the embodiments of the present invention will be made in conjunction with the accompanying drawings and examples.
As shown in fig. 1, the invention provides a hydraulic synchronous control method for multiple two-stage cylinders, which is implemented based on a control system, wherein the system comprises a control unit module 1, a hydraulic unit module 2 and an execution unit module 3; the control unit module 1 is used for controlling the opening and closing of a hydraulic valve in the hydraulic unit module 2 and collecting sensor data in the execution unit module 3; the hydraulic unit module 2 is connected with the execution unit module 3 through a hydraulic pipeline and is used for realizing the movement of the execution unit module 3 through a control instruction of the control unit module 1; the execution unit module 3 is used for realizing synchronous lifting movement under the control of the control unit module 1.
The control unit module 1 comprises a remote controller 11, a programmable controller 12, a communication expansion module 13, an analog output module 14 and a proportional amplifier 15; the remote controller 11 is connected with the programmable controller 12 in a wireless mode or a wired mode, and is used for sending a motion instruction to the programmable controller 12, wherein the motion instruction comprises ascending and descending motions of the execution unit module 3; the programmable controller 12 is connected with the communication expansion module 13 and the analog output module 14 through a self port, and the programmable controller 12 is used for calculating the lifting speed of the lifting platform of the mobile equipment AGV by analyzing an action instruction of the remote controller 11, then converting a voltage value required by opening a hydraulic valve in the hydraulic unit module 2 according to the parameter characteristic of the hydraulic valve in the hydraulic unit module 2 to obtain a voltage control signal and sending the voltage control signal to the analog output module 14; the programmable controller 12 is further configured to select one reference hydraulic cylinder from the four sets of hydraulic cylinders 31 of the execution unit module 3, calculate position errors between the other three hydraulic cylinders and the reference hydraulic cylinder, calculate a flow compensation amount of the non-reference hydraulic cylinder according to a PID control algorithm, and send a voltage compensation amount control signal issued by calculating the flow compensation amount to the analog output module 14; the position error needs to be set within an allowable range, and is used for avoiding the influence on the stability of the system due to the fact that the size of a valve port of the multi-way valve is continuously changed; the communication expansion module 13 is used for reading the displacement data of the sensor in the execution unit module 3 at a high speed; the analog quantity output module 14 is configured to output a continuous voltage control signal and a continuous voltage compensation quantity control signal, and transmit the signals to the proportional amplifier 15 through a wire, where the number of point outputs of the analog quantity output module 14 is the same as the number of the proportional amplifiers 15; the proportional amplifier 15 is configured to convert the voltage control signal and the voltage compensation quantity control signal obtained from the analog quantity output module 14 into a current control signal and a current compensation quantity control signal of a hydraulic valve in the hydraulic unit module 2, respectively, through scaling so as to control the hydraulic valve in the hydraulic unit module 2; the hydraulic valve in the hydraulic unit module 2 is controlled by the current compensation amount control signal and the current control signal converted by the action command sent by the remote controller 11;
the number of the proportional amplifiers 15 is equal to the number of the hydraulic cylinders in the execution unit module 3.
As shown in fig. 2, the execution unit module 3 includes four sets of hydraulic cylinders 31 and four sets of displacement sensors 32; the hydraulic cylinder 31 is a two-stage hydraulic cylinder, the stroke is doubled compared with that of a single-stage cylinder, and the problem that the height of the AGV equipment limits the stroke of the oil cylinder is effectively solved; the displacement sensors 32 are independently mounted on each hydraulic cylinder 31 one by one; the four groups of hydraulic cylinders 31 in the execution unit module 3 are used for realizing the lifting function of the lifting platform, so that the execution unit module 3 increases the bearing capacity of the lifting platform of the mobile equipment AGV, meets the requirement of the heavy-load mobile equipment AGV and simultaneously improves the stability of the lifting platform; the hydraulic cylinder 31 is a two-stage hydraulic cylinder, and three oil inlet and outlet ports are arranged on the hydraulic cylinder 31, wherein the three oil inlet and outlet ports comprise an oil inlet and outlet port arranged in a rodless cavity of the primary cylinder, an oil inlet and outlet port arranged in a rod cavity of the primary cylinder, and an oil inlet and outlet port arranged in a rod cavity of the secondary cylinder; the three oil ports arranged on the hydraulic cylinder 31 effectively solve the problem of internal leakage of the hydraulic cylinder and reduce the leakage amount of the hydraulic cylinder during use.
As shown in fig. 2, the hydraulic unit module 2 comprises an oil tank 21, a motor-pump set 22, a hand pump 23, a liquid level meter 24, an air filter 25, an oil return filter 26, a one-way valve 27, an oil outlet filter 28, a pressure gauge 29, a multi-way valve 210, a balance valve 211 and a sequence valve 212; the oil tank 21 is respectively connected with the motor-pump set 22, the hand pump 23, the liquid level meter 24, the air filter 25 and the return oil filter 26; the inlet of the one-way valve 27 is connected with the motor-pump set 22 through an oil pipe; the pressure gauge 29 is respectively connected with the hand pump 23 and the outlet of the one-way valve 27 and is used for displaying the system pressure; the outlet of the one-way valve 27 is also connected with one end of the oil outlet filter 28; the other end of the oil outlet filter 28 is connected with the multi-way valve 210; the oil outlet of the multi-way valve 210 is respectively connected with the balance valve 211 and the sequence valve 212; the balance valve 211 is connected to a non-cylinder oil port of the primary cylinder of the hydraulic cylinder 31; the sequence valve 212 is connected to the oil port of the rod chamber of the primary cylinder of the hydraulic cylinder 31.
Each group of valves of the multi-way valve 210 is individually connected to the hydraulic cylinder 31, so that the control unit module 1 independently controls each group of hydraulic cylinders 31 in the execution unit module 3; the balance valve 211 is independently installed at a rodless cavity oil port of the primary cylinder of the hydraulic cylinder 31, so that the movement speed of the vertical hydraulic cylinder during load bearing (load-carrying descending of the hydraulic lifting platform) can be effectively controlled; the sequence valve 212 is installed in front of the oil port of the rod cavity of the first-stage cylinder of the hydraulic cylinder 31, so that the problem that the action sequence of the two-stage cylinders is disordered when the hydraulic cylinder descends is effectively solved.
As shown in FIG. 3, the multi-two-stage cylinder hydraulic synchronous control method realized based on the system comprises the following steps:
an operator sends an action instruction to the programmable controller 12 by operating the remote controller 11;
the programmable controller 12 calculates the lifting speed of the lifting platform by analyzing the action instruction of the remote controller 11; then, according to the parameter characteristics of the multi-way valve 210, a voltage value required by opening the multi-way valve 210 is converted to obtain a voltage control signal, and the voltage control signal is sent to the analog quantity output module 14;
the proportional amplifier 15 calculates a voltage control signal obtained from the analog output module 14 by conversion into a current control signal for controlling the opening and closing of the multi-way valve 210; the control unit module 1 simultaneously issues the current control signal to each proportional valve in the multi-way valve 210; while the power flow control signal is sent to the multi-way valve 210, the position data of each hydraulic cylinder 31 is continuously read through the communication expansion module 13;
the programmable controller 12 further selects one reference hydraulic cylinder from the four sets of hydraulic cylinders 31, calculates position errors between the other three hydraulic cylinders and the reference hydraulic cylinder, calculates a flow compensation amount of a non-reference hydraulic cylinder according to a PID control algorithm, calculates a voltage compensation amount control signal issued by the flow compensation amount and sends the voltage compensation amount control signal to the analog output module 14, and then the proportional amplifier 15 converts the voltage compensation amount control signal acquired from the analog output module 14 into a current compensation amount control signal, thereby controlling the opening size of each proportional valve in the multi-way valve 210; the position error needs to be set within an allowable range, so that the multi-way valve is prevented from continuously changing the size of a valve port, and the stability of the system is influenced. The PID control algorithm is a common control algorithm and will not be described here.
The current compensation amount control signal and the current control signal converted from the action command issued by the remote controller 11 control the multi-way valve 210 together; therefore, the execution unit module 3 realizes synchronous lifting according to the control signal sent by the control unit module 1.
In order to better control the speed stability and precision of the ascending motion of the primary cylinder and the secondary cylinder of the hydraulic cylinder 31, a deceleration zone is arranged at the switching position of the primary cylinder and the secondary cylinder, and when the position sensor 32 measures that the motion height of the hydraulic cylinder 31 is in the deceleration zone, the remote controller 11 reduces the speed value in the issued action command until the oil cylinder runs out of the deceleration zone; the arrangement of the speed reduction area realizes the stable transition from a first-stage cylinder (large cylinder) to a second-stage cylinder (small cylinder), and effectively relieves the problems of speed stability and precision control caused by the area difference of the two-stage cylinders at the transition position of the two-stage cylinders.
The above description is only a preferred embodiment of the present invention, and it should be noted that, for those skilled in the art, several modifications and variations can be made without departing from the technical principle of the present invention, and these modifications and variations should also be regarded as the protection scope of the present invention.
Claims (10)
1. A multi-two-stage cylinder hydraulic synchronous control method is characterized in that the method is realized based on a multi-two-stage cylinder hydraulic synchronous control system, and the system comprises a control unit module (1), a hydraulic unit module (2) and an execution unit module (3); the control unit module (1) is used for controlling the opening and closing of a hydraulic valve in the hydraulic unit module (2) and collecting sensor data in the execution unit module (3); the hydraulic unit module (2) is connected with the execution unit module (3) and is used for realizing the movement of the execution unit module (3) through a control instruction of the control unit module (1); the execution unit module (3) is used for realizing synchronous lifting motion under the control of the control unit module (1);
the control unit module (1) comprises a remote controller (11), a programmable controller (12), a communication expansion module (13), an analog output module (14) and a proportional amplifier (15); the remote controller (11) is connected with the programmable controller (12) and is used for sending a motion instruction to the programmable controller (12), wherein the motion instruction comprises ascending and descending motions of the execution unit module (3); the programmable controller (12) is connected with the communication expansion module (13) and the analog quantity output module (14), and the programmable controller (12) is used for calculating the lifting speed of the AGV lifting platform of the mobile equipment by analyzing an action instruction of the remote controller (11), then converting a voltage value required by opening a hydraulic valve in the hydraulic unit module (2) according to the parameter characteristics of the hydraulic valve in the hydraulic unit module (2) to obtain a voltage control signal and sending the voltage control signal to the analog quantity output module (14); the programmable controller (12) is also used for selecting a reference hydraulic cylinder from a plurality of groups of hydraulic cylinders (31) of the execution unit module (3), calculating the position errors of other hydraulic cylinders and the reference hydraulic cylinder, calculating the flow compensation quantity of a non-reference hydraulic cylinder, and sending a voltage compensation quantity control signal issued by calculating the flow compensation quantity to the analog quantity output module (14); the communication expansion module (13) is used for reading displacement data of a sensor in the execution unit module (3); the analog quantity output module (14) is used for outputting continuous voltage control signals and continuous voltage compensation quantity control signals and transmitting the signals to the proportional amplifier (15), and the point position output of the analog quantity output module (14) is consistent with the quantity of the proportional amplifier (15); the proportional amplifier (15) is used for converting the voltage control signal and the voltage compensation quantity control signal acquired from the analog quantity output module (14) into a current control signal and a current compensation quantity control signal of a hydraulic valve in the hydraulic unit module (2) respectively through proportional conversion so as to control the hydraulic valve in the hydraulic unit module (2); a hydraulic valve in the hydraulic unit module (2) is controlled by a current compensation quantity control signal and a current control signal converted by an action command issued by a remote controller (11);
the execution unit module (3) comprises four groups of hydraulic cylinders (31) and four groups of displacement sensors (32); the displacement sensors (32) are independently arranged on each hydraulic cylinder (31) one by one; four groups of same hydraulic cylinders (31) in the execution unit module (3) are used for realizing the lifting function of the lifting platform; the hydraulic cylinder (31) is a two-stage hydraulic cylinder, and three oil inlet and outlet ports are arranged on the hydraulic cylinder (31), wherein the three oil inlet and outlet ports comprise an oil inlet and outlet port arranged in a rodless cavity of the primary cylinder, an oil inlet and outlet port arranged in a rod cavity of the primary cylinder and an oil inlet and outlet port arranged in a rod cavity of the secondary cylinder;
the hydraulic unit module (2) comprises an oil tank (21), a motor pump set (22), a hand pump (23), a liquid level meter (24), an air filter (25), an oil return filter (26), a one-way valve (27), an oil outlet filter (28), a pressure gauge (29), a multi-way valve (210), a balance valve (211) and a sequence valve (212); the oil tank (21) is respectively connected with the motor-pump set (22), the hand pump (23), the liquid level meter (24), the air filter (25) and the oil return filter (26); the inlet of the one-way valve (27) is connected with the motor-pump set (22) through an oil pipe; the pressure gauge (29) is respectively connected with the hand pump (23) and the outlet of the one-way valve (27) and is used for displaying the system pressure; the outlet of the one-way valve (27) is also connected with one end of the oil outlet filter (28); the other end of the oil outlet filter (28) is connected with the multi-way valve (210); the oil outlet of the multi-way valve (210) is respectively connected with the balance valve (211) and the sequence valve (212); the balance valve (211) is connected to a non-cylinder cavity oil port of a primary cylinder of the hydraulic cylinder (31); the sequence valve (212) is connected with an oil port of a rod cavity of a primary cylinder of the hydraulic cylinder (31);
the control method comprises the following steps:
sending an action instruction to a programmable controller (12) by operating a remote controller (11);
the programmable controller (12) analyzes the action instruction of the remote controller (11) to calculate the lifting speed of the lifting platform; then converting a voltage value required by opening the multi-way valve (210) according to the parameter characteristics of the multi-way valve (210) to obtain a voltage control signal and sending the voltage control signal to the analog quantity output module (14);
the proportional amplifier (15) calculates a voltage control signal obtained from the analog quantity output module (14) by conversion into a current control signal for controlling the opening and closing of the multi-way valve (210); the control unit module (1) is used for issuing the current control signals to each proportional valve in the multi-way valve (210) at the same time; when the power flow control signal is sent to the multi-way valve (210), the position data of each hydraulic cylinder (31) is continuously read through the communication expansion module (13);
the programmable controller (12) also selects a reference hydraulic cylinder from the four groups of hydraulic cylinders (31), calculates the position errors of the other three hydraulic cylinders and the reference hydraulic cylinder, calculates the flow compensation quantity of the non-reference hydraulic cylinder, calculates a voltage compensation quantity control signal issued by the flow compensation quantity and sends the voltage compensation quantity control signal to the analog quantity output module (14), and then the proportional amplifier (15) converts the voltage compensation quantity control signal obtained from the analog quantity output module (14) into a current compensation quantity control signal so as to control the opening size of each proportional valve in the multi-way valve (210);
the current compensation quantity control signal and a current control signal converted from an action command sent by a remote controller (11) jointly control the multi-way valve (210); therefore, the execution unit module (3) realizes synchronous lifting according to the control signal issued by the control unit module (1).
2. The method according to claim 1, characterized in that the number of proportional amplifiers (15) is equal to the number of hydraulic cylinders in the execution unit module (3).
3. A method according to claim 2, characterized in that a deceleration zone is provided at the switching position of the primary cylinder and the secondary cylinder of the hydraulic cylinder (31), and when the position sensor (32) measures that the moving height of the hydraulic cylinder (31) is in the deceleration zone, the remote control (11) reduces the speed value in the issued movement command until the hydraulic cylinder (31) moves out of the deceleration zone.
4. A method according to claim 2, characterized in that the remote control (11) is connected to the programmable controller (12) in a wireless manner.
5. A method according to claim 2, characterized in that the remote control (11) is connected to the programmable controller (12) by wire.
6. The method according to claim 2, characterized in that the hydraulic unit module (2) and the execution unit module (3) are connected by hydraulic lines.
7. The method according to claim 2, characterized in that the programmable controller (12) is specifically adapted to calculate the flow compensation of the non-reference hydraulic cylinder according to a PID control algorithm.
8. Method according to claim 2, characterized in that the programmable controller (12) is connected to the communication expansion module (13) through its own port.
9. The method according to claim 2, characterized in that the programmable controller (12) is connected to the analog output module (14) through its own port.
10. A method according to claim 2, characterized in that the programmable controller (12) calculates the flow compensation of the non-reference cylinder according to a PID control algorithm after calculating the position errors of the other three cylinders from the reference cylinder.
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| CN115614338B (en) * | 2022-09-21 | 2023-05-23 | 浙江匠心液压科技有限公司 | Double-multistage hydraulic cylinder synchronization device |
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